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[CollisionModel] New: added collision layer property #4219

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[CollisionModel] New: added collision layer property #4219

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3 changes: 3 additions & 0 deletions Sofa/framework/Core/src/sofa/core/CollisionModel.cpp
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Expand Up @@ -165,6 +165,9 @@ bool CollisionModel::canCollideWith(CollisionModel* model)
if (model->getContext() == this->getContext()) // models are in the Node -> is self collision activated?
return bSelfCollision.getValue();

if (model->layer.getValue() != this->layer.getValue()) // no collisions between models in different layers
return false;

const auto& myGroups = this->group.getValue();
if (myGroups.empty()) // a collision model without any group always collides
return true;
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3 changes: 3 additions & 0 deletions Sofa/framework/Core/src/sofa/core/CollisionModel.h
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Expand Up @@ -407,6 +407,9 @@ class SOFA_CORE_API CollisionModel : public virtual objectmodel::BaseObject
/// models included in a common group (i.e. sharing a common id)
Data< std::set<int> > group;

// No collision can occur between collision models in different layers
Data<int> layer;
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Suggested change
Data<int> layer;
Data<int> d_layer;

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It also needs to be initialized in the constructor

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Does it make sense to define more than one layer for a collision model?


/// Number of collision elements
Size size;

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